
syms w0 zeta s
syms J B
syms kp ki kd

% kd=0

% s = tf('s');
% sys = w0^2/(w0^2+2*zeta*s+s^2)
% sys = 1/(L*s+R)
sys = 1

controller = kp+ki/s+kd*s
cl_sys = controller * sys/(1+controller * sys);

cl_sys = collect(cl_sys, s)